Delta ECMA-E 1315 Series User Manual

ASDA-A2 Chapter 7 Motion Control
7-28 Revision February, 2017
The main feature of E-Cam is as the followings:
Features of E-Cam
Operation Operate the E-cam in PR mode only.
Active the E-Cam Function
P5-88.X
0: disable E-cam function and force to disengage (default).
1: enable E-cam function and starts to judge the engaged condition.
E-Cam Status Stop / Pre-engage / Engage
Source of Master Axis
 Auxiliary encoder (linear scale)
 Pulse command
 CAP axis (defined by CAP function)
 PR command
 Time axis
 Synchronous capture axis
Motion Command of the
Servo Drive
The overlap motion command issued by PR and E-Cam
Command of the Servo Drive = E-Cam command ＋ PR
command
 The command will be issued only in Engaged status
 PR command is effective regardless to the E-Cam status.
Except when E-cam is engaging and the source of master axis
is PR command, PR command is 0.
When E-Cam is operating, its position still can be adjusted by PR
command (incremental command in general).
Data Storage Address of
E-Cam table
 It is stored in Data array and the start address is set by P5-81.
Data Size of E-Cam table
 It is set by P5-82. 720 points is the maximum and 5 points is
the minimum.
Data Format of E-Cam
table
 32-bit signed value.
Data Content of E-Cam
table
 Save the position of slave axis (User unit, PUU)
The operation of E-Cam
position
 The master axis operates by incremental command input.
 The slave axis issues position command incrementally.
 The start and the end of E-Cam curve profile could not always
be the same. It depends on the value of E-Cam table.
 The command is interpolated by cubic curve. The torque on
each point will be smoothly connected because of quadratic
differential operation.

Delta ECMA-E 1315 Series Specifications

General

Brand	Delta
Model	ECMA-E 1315 Series
Category	Servo Drives
Language	English